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<div class="title">boundary.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  </span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_BOUNDARY_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_BOUNDARY_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/eigen.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html">   81</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_boundary_estimation.html">BoundaryEstimation</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const BoundaryEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">BoundaryEstimation</a> () : <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a> (static_cast&lt;float&gt; (M_PI) / 2.0f) </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;BoundaryEstimation&quot;</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      };</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">isBoundaryPoint</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                       <span class="keywordtype">int</span> q_idx, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                       <span class="keyword">const</span> Eigen::Vector4f &amp;u, <span class="keyword">const</span> Eigen::Vector4f &amp;v, <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">isBoundaryPoint</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                       <span class="keyword">const</span> PointInT &amp;q_point, </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                       <span class="keyword">const</span> Eigen::Vector4f &amp;u, <span class="keyword">const</span> Eigen::Vector4f &amp;v, <span class="keyword">const</span> <span class="keywordtype">float</span> angle_threshold);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">  143</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">setAngleThreshold</a> (<span class="keywordtype">float</span> angle)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      {</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a> = angle;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">  150</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">getAngleThreshold</a> ()</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a>);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">  161</a></span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">getCoordinateSystemOnPlane</a> (<span class="keyword">const</span> PointNT &amp;p_coeff, </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                                  Eigen::Vector4f &amp;u, Eigen::Vector4f &amp;v)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        v = p_coeff_v.unitOrthogonal ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        u = p_coeff_v.cross3 (v);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <a class="code" href="classpcl_1_1_boundary_estimation.html#a6c78e1f7cf69698d2ef0ecedb019c289">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">  179</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">angle_threshold_</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  };</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/boundary.hpp&gt;</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_BOUNDARY_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html">pcl::BoundaryEstimation</a></div><div class="ttdoc">BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...</div><div class="ttdef"><b>Definition:</b> boundary.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a085a59e06686a13ebe69997e6319e6c9"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">pcl::BoundaryEstimation::getCoordinateSystemOnPlane</a></div><div class="ttdeci">void getCoordinateSystemOnPlane(const PointNT &amp;p_coeff, Eigen::Vector4f &amp;u, Eigen::Vector4f &amp;v)</div><div class="ttdoc">Get a u-v-n coordinate system that lies on a plane defined by its normal</div><div class="ttdef"><b>Definition:</b> boundary.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a0e22a0a0dd6cb8a7254490e645a10c88"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a0e22a0a0dd6cb8a7254490e645a10c88">pcl::BoundaryEstimation::getAngleThreshold</a></div><div class="ttdeci">float getAngleThreshold()</div><div class="ttdoc">Get the decision boundary (angle threshold) as set by the user.</div><div class="ttdef"><b>Definition:</b> boundary.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a20834d3b9eed1dcf4afa9dfe31dae4c4"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a20834d3b9eed1dcf4afa9dfe31dae4c4">pcl::BoundaryEstimation::BoundaryEstimation</a></div><div class="ttdeci">BoundaryEstimation()</div><div class="ttdoc">Empty constructor. The angular threshold angle_threshold_ is set to M_PI / 2.0</div><div class="ttdef"><b>Definition:</b> boundary.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a46c6b6f8197a56be4651739d2f897084"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a46c6b6f8197a56be4651739d2f897084">pcl::BoundaryEstimation::setAngleThreshold</a></div><div class="ttdeci">void setAngleThreshold(float angle)</div><div class="ttdoc">Set the decision boundary (angle threshold) that marks points as boundary or regular....</div><div class="ttdef"><b>Definition:</b> boundary.h:143</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a6c78e1f7cf69698d2ef0ecedb019c289"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a6c78e1f7cf69698d2ef0ecedb019c289">pcl::BoundaryEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate whether a set of points is lying on surface boundaries using an angle criterion for all poin...</div><div class="ttdef"><b>Definition:</b> boundary.hpp:117</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_ab8bae1e67f3069db947d2e873a53e24c"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#ab8bae1e67f3069db947d2e873a53e24c">pcl::BoundaryEstimation::angle_threshold_</a></div><div class="ttdeci">float angle_threshold_</div><div class="ttdoc">The decision boundary (angle threshold) that marks points as boundary or regular. (default )</div><div class="ttdef"><b>Definition:</b> boundary.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_acfdb38b1c483dfcf917200dec852fe6c"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">pcl::BoundaryEstimation::isBoundaryPoint</a></div><div class="ttdeci">bool isBoundaryPoint(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, int q_idx, const std::vector&lt; int &gt; &amp;indices, const Eigen::Vector4f &amp;u, const Eigen::Vector4f &amp;v, const float angle_threshold)</div><div class="ttdoc">Check whether a point is a boundary point in a planar patch of projected points given by indices.</div><div class="ttdef"><b>Definition:</b> boundary.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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